A collection of WsfWaypoint objects that represent a path to be followed. More...

#include <WsfRoute.hpp>

Inheritance diagram for WsfRoute:

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Collaboration diagram for WsfRoute:

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Classes
struct	RouteIntersection

Public Types
using	WaypointVector = std::vector<WsfWaypoint>
using	WayptVecIter = std::vector<WsfWaypoint>::iterator
using	WaypointPtrVector = std::vector<WsfWaypoint*>
using	WaypointSegment = std::pair<WsfWaypoint, WsfWaypoint>
Public Types inherited from WsfObject
typedef std::vector< WsfStringId >	TypeList
	The list of types returned by GetTypeList.

Public Member Functions
	WsfRoute ()=default
	WsfRoute (const std::string &aName)
	WsfRoute (const WsfRoute &aSrc)
	Copy constructor (for Clone()).
	~WsfRoute () override
WsfRoute &	operator= (const WsfRoute &aRhs)
WsfWaypoint &	operator[] (size_t aIndex)
const WsfWaypoint &	operator[] (size_t aIndex) const
WsfRoute *	Clone () const override
virtual bool	Initialize (double aSimTime=0.0)
bool	ProcessInput (UtInput &aInput) override
const char *	GetScriptClassName () const override
void	Append (const WsfWaypoint &aWaypoint)
	Add the given point to the end of the waypoint vector.
void	Append (const WsfRoute &aRoute)
	Add all the waypoints of the given route to the end of the current route.
void	Insert (WayptVecIter aIter, const WsfWaypoint &aWaypoint)
void	Insert (int aIndex, const WsfWaypoint &aWaypoint)
void	Remove (unsigned int aWaypointIndex)
void	Transform (double aRefLat, double aRefLon, double aHeading)
void	TransformNED (double aNorth, double aEast, double aDown)
void	GetSubroute (const WsfWaypoint &aFromWaypoint, const WsfWaypoint &aToWaypoint, WsfRoute &aRoute) const
void	GetSubroute (int aStartIndex, int aEndIndex, WsfRoute &aRoute) const
void	AppendSubroute (int aStartIndex, int aEndIndex, WsfRoute &aRoute) const
void	GetAllNodes (WaypointPtrVector &aWaypointPtrVector)
int	GetAdjacentNodeIndices (int aWaypointIndex, int *aAdjacentNodeIndices) const
int	FindWaypointIndex (double aLat, double aLon, double aAlt)
int	FindWaypointIndex (const WsfWaypoint &aWpt)
bool	IsBetweenWaypoints (const double aPointLL[2], const unsigned int aFirstWaypointIndex, const unsigned int aSecondWaypointIndex, const double aTolerancePercentage=0.01) const
double	GetDistance (int aFromWaypointIndex, int aToWaypointIndex) const
double	GetDistanceOffset (const double aFromLL[2], const double aToLL[2], const double aPointLL[2], double &aOffsetDist) const
double	GetDistanceAlongRoute (const double aFromLL[2], const double aToLL[2]) const
double	GetDistanceAlongRoute (const double aFromLL[2], const double aToLL[2], double &aOffsetDist) const
bool	GetEndPointsAtDistance (double aDistance, int &aWaypointIndex) const
bool	PointAlongRoute (double aDistanceFromStart, double aPointAlongRoute[2], int &aSegmentIndex)
bool	ProjectOntoRoute (const double aPointLL[2], int &aSegmentIndex, double aProjectedLL[2], double &aDistance) const
bool	ProjectOntoRoute (const double aPointLL[2], double &aDistanceFromRoute, double &aDistanceAlongRoute) const
int	ProjectOntoRouteFast (const double aPointLL[2], double &aDistanceFromRoute, double &aDistanceAlongRoute) const
bool	ProjectOntoRouteGivenClosestWaypoint (double aLat, double aLon, int aClosestWaypointIndex, int &aSegmentIndex, double aProjectedLL[2])
int	Intersect (WsfRoute &aOtherRoute, std::vector< RouteIntersection > &aIntersections)
double	GetTotalLength () const
	Get the total distance along all waypoints in the route.
double	GetTravelTime () const
	Get the time to travel the route given the speed of each segment.
double	GetTravelTimeToPosition (const double aPosition[2]) const
WsfWaypoint &	GetWaypointAt (size_t aIndex)
const WsfWaypoint &	GetWaypointAt (size_t aIndex) const
unsigned int	GetWaypointIndexAt (WsfStringId aLabelId) const
bool	IsGlobalRoute () const
void	SetNetworkRouteId (unsigned int aRouteId)
unsigned int	GetNetworkRouteId () const
	Get the network route Id associated with this route.
void	SetSpeed (double aSpeed)
double	GetSpeed (unsigned int aIndex) const
const WaypointVector &	GetWaypoints () const
WayptVecIter	Begin ()
	Return an iterator to the first waypoint in the route.
WayptVecIter	End ()
void	Clear ()
	Remove all waypoints from a route.
bool	Empty () const
unsigned int	GetSize () const
void	Print (ut::log::MessageStream &aStream) const
	Adds details to the notes of aStream.
void	Swap (WsfRoute &aRhs)
	Swap two WsfRoute's efficiently.
UtReferenceCount *	GetWaypointReferenceCount ()
template<typename T>
void	Serialize (T &aBuff)
	For XIO (de)serialization.
UtScriptRef *	ScriptRef ()
	Return a script reference to this route, managed by the application.
UtScriptRef *	ConstScriptRef () const
UtScriptRef *	ScriptRefManage ()
	Return a script reference to this route, managed by the scripting language.
bool	ProcessNavigationInput (UtInput &aInput)
void	ProcessWaypoint (UtInput &aInput, WsfWaypoint &aWaypoint)
Public Member Functions inherited from WsfObject
	WsfObject ()
	This is the constructor for the WsfObject class.
	~WsfObject () override
	This is the destructor for the WsfObject class.
const char *	GetScriptClassName () const override
const std::string &	GetType () const
WsfStringId	GetTypeId () const
	Get the string ID of the 'type' of the object.
void	SetType (WsfStringId aType)
const std::string &	GetBaseType () const
WsfStringId	GetBaseTypeId () const
const TypeList &	GetTypeList () const
bool	IsA_TypeOf (WsfStringId aType) const
WsfObject &	operator= (const WsfObject &aRhs)
	Assignment operator.
template<typename T>
void	Serialize (T &aBuff)
	For XIO (de)serialization.
const std::string &	GetName () const
WsfStringId	GetNameId () const
void	SetName (WsfStringId aName)
Public Member Functions inherited from WsfAuxDataEnabled
	WsfAuxDataEnabled ()=default
	WsfAuxDataEnabled (const WsfAuxDataEnabled &aSrc)=default
WsfAuxDataEnabled &	operator= (const WsfAuxDataEnabled &aRhs)
	WsfAuxDataEnabled (WsfAuxDataEnabled &&)=default
WsfAuxDataEnabled &	operator= (WsfAuxDataEnabled &&)=default
virtual	~WsfAuxDataEnabled () noexcept
void	SetAuxData (const WsfAttributeContainer &aAuxData)
void	DeleteAuxData ()
	Delete the aux data container from the object.
void	MergeAuxData (const WsfAuxDataEnabled &aSrc)
	Merge the object's aux data with aux data from an existing object.
void	UpdateAuxData (const WsfAuxDataEnabled &aSrc)
	Update the object's aux data with aux data from an existing object.
bool	HasAuxData () const
	Returns true if this object has aux data.
bool	ProcessInput (UtInput &aInput)
template<typename T>
void	Serialize (T &aBuff)
	(De)serialization for XIO
WsfAttributeContainer &	GetAuxData ()
const WsfAttributeContainer &	GetAuxData () const noexcept
const WsfAttributeContainer &	GetAuxDataConst () const noexcept

Static Public Member Functions
static std::unique_ptr< UtScriptClass >	CreateScriptClass (const std::string &aClassName, UtScriptTypes *aScriptTypesPtr)
static std::unique_ptr< UtScriptClass >	CreateIteratorScriptClass (const std::string &aClassName, UtScriptTypes *aScriptTypesPtr)
static bool	ProjectOntoRoute (const double aPointLL[2], const double aSegmentStartLL[2], const double aSegmentEndLL[2], double aWaypointLL[2])
static void	ProcessInputBlock (UtInputBlock &aInputBlock, WsfRoute *aRoutePtr, bool aAllowName)

Static Public Attributes
static constexpr const char *	cTYPE_KIND = "route"
Static Public Attributes inherited from WsfAuxDataEnabled
static UtCallbackListN< void(const WsfAuxDataEnabled *)>	AuxDataAccessed
static UtCallbackListN< void(const WsfAuxDataEnabled *)>	AuxDataDestroyed

Additional Inherited Members
	WsfObject (const WsfObject &aSrc)
	Copy constructor (for Clone()).

Detailed Description

A collection of WsfWaypoint objects that represent a path to be followed.

Member Typedef Documentation

◆ WaypointPtrVector

using WsfRoute::WaypointPtrVector = std::vector<WsfWaypoint*>

◆ WaypointSegment

using WsfRoute::WaypointSegment = std::pair<WsfWaypoint, WsfWaypoint>

◆ WaypointVector

using WsfRoute::WaypointVector = std::vector<WsfWaypoint>

◆ WayptVecIter

using WsfRoute::WayptVecIter = std::vector<WsfWaypoint>::iterator

Constructor & Destructor Documentation

◆ WsfRoute() [1/3]

WsfRoute::WsfRoute ( )

default

◆ WsfRoute() [2/3]

WsfRoute::WsfRoute ( const std::string & aName )

Constructor for a named, but empty, route

Parameters

aName A string containing the name of the route.

References WsfObject::SetName(), and WsfObject::WsfObject().

◆ WsfRoute() [3/3]

WsfRoute::WsfRoute ( const WsfRoute & aSrc )

Copy constructor (for Clone()).

References WsfAuxDataEnabled::WsfAuxDataEnabled(), WsfObject::WsfObject(), and WsfRoute().

◆ ~WsfRoute()

WsfRoute::~WsfRoute ( )

override

Member Function Documentation

◆ Append() [1/2]

void WsfRoute::Append ( const WsfRoute & aRoute )

Add all the waypoints of the given route to the end of the current route.

References Append(), GetSize(), and WsfRoute().

◆ Append() [2/2]

void WsfRoute::Append ( const WsfWaypoint & aWaypoint )

Add the given point to the end of the waypoint vector.

References GetDistanceAlongRoute(), WsfWaypoint::GetLat(), and WsfWaypoint::GetLon().

Referenced by Append(), WsfRouteNetwork::Append(), AppendSubroute(), WsfRouteNetwork::AppendSubroute(), WsfPathFinder::ComputeExtrapolate(), WsfNavigationMesh::ComputeSetRoute(), WsfPathFinder::ComputeSetRoute(), WsfRoadMover::CreateRoute(), WsfRoadMover::CreateRoute(), WsfRoadMover::CreateRoute(), WsfRouteMover::FindAndSetPath(), WsfNavigationMesh::FindPath(), WsfPathFinder::FindPath(), WsfRouteNetwork::GeneratePathBetweenClosestSegments(), WsfRouteNetwork::GeneratePathOffRouteToRoute(), WsfIterativeRouteMover::GoToLocation(), WsfRouteMover::GoToLocation(), if(), if(), WsfRoadMover::Initialize(), XWsfAirTraffic::Initialize(), Insert(), WsfNavigationMesh::LineOfSightTest(), SAM_LaunchComputerGenerator::PlaceNewTarget(), ProcessNavigationInput(), ProcessWaypoint(), WsfNavigationMesh::RefineFromCurrentPosition(), WsfZoneRouteFinder::RouteAroundZones(), UT_DEFINE_SCRIPT_METHOD(), UT_DEFINE_SCRIPT_METHOD(), UT_DEFINE_SCRIPT_METHOD(), UT_DEFINE_SCRIPT_METHOD(), UT_DEFINE_SCRIPT_METHOD(), UT_DEFINE_SCRIPT_METHOD(), UT_DEFINE_SCRIPT_METHOD(), while(), and WsfRoute().

◆ AppendSubroute()

void WsfRoute::AppendSubroute	(	int	aStartIndex,
		int	aEndIndex,
		WsfRoute &	aRoute ) const

Given a 'start' route index and an 'end' route index, both of which represent waypoints that are contained within the referenced route, append the sub-route that begins and ends with those waypoints.

Parameters

aStartIndex	The first waypoint index in the sub-route.
aEndIndex	The last waypoint index in the sub-route.
aRoute	The route to be appended with the sub-route.

References Append(), and WsfRoute().

Referenced by GetSubroute(), and WsfRoute().

◆ Begin()

WayptVecIter WsfRoute::Begin ( )

inline

Return an iterator to the first waypoint in the route.

◆ Clear()

void WsfRoute::Clear ( )

Remove all waypoints from a route.

Referenced by WsfPathFinder::ComputeExtrapolate(), WsfNavigationMesh::ComputeSetRoute(), WsfRoadMover::CreateRoute(), WsfNavigationMesh::FindPath(), WsfPathFinder::FindPath(), WsfRouteNetwork::GeneratePathBetweenClosestSegments(), WsfRouteNetwork::GeneratePathBetweenClosestWaypoints(), WsfRouteNetwork::GeneratePathOffRouteToRoute(), WsfRouteNetwork::GenerateShortestPathBetweenWaypoints(), WsfNavigationMesh::GetFurthestVisiblePoint(), GetSubroute(), and WsfNavigationMesh::RefineFromCurrentPosition().

◆ Clone()

WsfRoute * WsfRoute::Clone ( ) const

overridevirtual

Clone this object by creating an identical copy and returning a pointer to it.

Returns: A pointer to the cloned object.

Implements WsfObject.

References WsfRoute().

Referenced by XWsfOSM_Traffic::AddScriptedVehicle(), WsfRouteFinder::Route(), WsfRouteFinder::RouteAvoidances(), wsf::six_dof::Mover::SetDefaultRoute(), WsfP6DOF_Mover::SetDefaultRoute(), wsf::six_dof::Mover::SetTempRoute(), WsfP6DOF_Mover::SetTempRoute(), wsf::six_dof::Mover::UpdateRoute(), WsfP6DOF_Mover::UpdateRoute(), UT_DEFINE_SCRIPT_METHOD(), and WsfP6DOF_Mover::WsfP6DOF_Mover().

◆ ConstScriptRef()

UtScriptRef * WsfRoute::ConstScriptRef ( ) const

Return a const script reference to this route, managed by the application. Script accessors will be forbidden from modifying this object.

References cCONST_ROUTE_ID, ScriptRef(), and WsfRoute().

Referenced by UT_DEFINE_SCRIPT_METHOD(), UT_DEFINE_SCRIPT_METHOD(), UT_DEFINE_SCRIPT_METHOD(), and UT_DEFINE_SCRIPT_METHOD().

◆ CreateIteratorScriptClass()

std::unique_ptr< UtScriptClass > WsfRoute::CreateIteratorScriptClass	(	const std::string &	aClassName,
		UtScriptTypes *	aScriptTypesPtr )

static

Referenced by WsfScriptManager::RegisterTypes(), and WsfRoute().

◆ CreateScriptClass()

std::unique_ptr< UtScriptClass > WsfRoute::CreateScriptClass	(	const std::string &	aClassName,
		UtScriptTypes *	aScriptTypesPtr )

static

Create the 'class' object for the script system. This is invoked once by WsfScriptManager to create the 'class' object that defines the interface to instances of this class from the script system.

References CreateScriptClass(), and WsfRoute().

Referenced by CreateScriptClass(), WsfScriptManager::RegisterTypes(), and WsfRoute().

◆ Empty()

bool WsfRoute::Empty ( ) const

inline

Determine whether the route contains any waypoints.

Returns: 'true' if the route contains waypoints; 'false' otherwise.

Referenced by WsfRouteNetwork::Append(), WsfRouteNetwork::GeneratePathOffRouteToRoute(), wsf::six_dof::GuidanceComputer::RouteChanged(), WsfGuidanceComputer::RouteChanged(), WsfP6DOF_GuidanceComputer::RouteChanged(), WsfP6DOF_GuidanceComputer::SelectPhase(), wsf::six_dof::GuidanceComputer::SelectWaypoint(), WsfGuidanceComputer::SelectWaypoint(), WsfRouteMover::UpdateRoute(), wsf::six_dof::GuidanceComputer::UpdateRouteFollowing(), and WsfGuidanceComputer::UpdateRouteFollowing().

◆ End()

WayptVecIter WsfRoute::End ( )

inline

Return an iterator to the end of the vector (i.e., whether the iterator is past the last waypoint in the vector).

◆ FindWaypointIndex() [1/2]

int WsfRoute::FindWaypointIndex ( const WsfWaypoint & aWpt )

References FindWaypointIndex(), WsfWaypoint::GetAlt(), WsfWaypoint::GetLat(), WsfWaypoint::GetLon(), and WsfWaypoint::GetPositionInRoute().

◆ FindWaypointIndex() [2/2]

int WsfRoute::FindWaypointIndex	(	double	aLat,
		double	aLon,
		double	aAlt )

References WsfWaypoint::GetAlt(), WsfWaypoint::GetLat(), and WsfWaypoint::GetLon().

Referenced by FindWaypointIndex(), WsfRouteNetwork::GenerateShortestPathBetweenWaypoints(), and WsfRoute().

◆ GetAdjacentNodeIndices()

int WsfRoute::GetAdjacentNodeIndices	(	int	aWaypointIndex,
		int *	aAdjacentNodeIndices ) const

Determine which nodes are adjacent to a node given its index.

Parameters

aWaypointIndex	The waypoint index around which to find adjacent nodes.
aAdjacentNodeIndices	[output] The (0, 1, or 2) adjacent node indices in the route.

Returns: The number of adjacent nodes (0, 1, or 2)

Referenced by WsfRoute().

◆ GetAllNodes()

void WsfRoute::GetAllNodes ( WaypointPtrVector & aWaypointPtrVector )

Loop through the waypoints and return a vector containing only those points whose intersection identifier is non-zero.

Parameters

aWaypointPtrVector [output] A vector of waypoint pointers whose intersection identifier is non-zero.

Note: In the context of a route a "node" is defined to be either the first or last waypoint in the route or a waypoint where two or more routes intersect. This method returns all waypoints that are nodes.

Referenced by WsfRoute().

◆ GetDistance()

double WsfRoute::GetDistance	(	int	aFromWaypointIndex,
		int	aToWaypointIndex ) const

Get the distance along the route between two waypoints.

Parameters

aFromWaypointIndex	The beginning waypoint index for which the distance is calculated.
aToWaypointIndex	The ending waypoint index for which the distance is calculated.

Returns: The distance, along a great circle route, between 'from' and 'to' waypoints

References GetDistanceAlongRoute().

Referenced by XWsfOSM_Traffic::ChangeScriptedLane(), GetDistanceAlongRoute(), GetDistanceAlongRoute(), WsfFuel::GetQuantityRequired(), and WsfRoute().

◆ GetDistanceAlongRoute() [1/2]

double WsfRoute::GetDistanceAlongRoute	(	const double	aFromLL[2],
		const double	aToLL[2] ) const

Get the distance along the route between ANY two waypoints along the route.

Parameters

aFromLL	The beginning point for which the distance is calculated.
aToLL	The ending point for which the distance is calculated.

Returns: The distance, along a great circle route, between the 'from' and 'to' input waypoints. negative - 'to' appears in route prior to 'from' positive - 'from' appears in route prior to 'to' std::numeric_limits<int>::max() if either 'from' or 'to' are not along the route.

Note: This method differs from GetDistance in that the 'from' and 'to' waypoints are NOT required to be a waypoints of the route.

References GetDistance(), IsBetweenWaypoints(), and waypointIndex.

Referenced by Append(), XWsfOSM_Traffic::ChangeScriptedLane(), GetDistance(), Insert(), Remove(), and WsfRoute().

◆ GetDistanceAlongRoute() [2/2]

double WsfRoute::GetDistanceAlongRoute	(	const double	aFromLL[2],
		const double	aToLL[2],
		double &	aOffsetDist ) const

Get the distance along the route between ANY waypoint on the route and an arbitrary (lat, lon) along with the perpendicular offset distance of (lat, lon) to the route.

Parameters

aFromLL	The beginning point for which the distance is calculated.
aToLL	The ending point for which the distances are calculated.
aOffsetDist	[output] The perpendicular distance from the specified point to the point on the route.

Returns: The distance, along a great circle route, between the 'from' and 'to' input waypoints. negative - 'to' appears in route prior to 'from' positive - 'from' appears in route prior to 'to'

Note: This method returns the distance to the first segment of route ahead of aFromLL which aToLL's perpendicular intercepts. Caution: there maybe smaller offsets distance further along route.

References GetDistance(), GetDistanceOffset(), IsBetweenWaypoints(), and waypointIndex.

◆ GetDistanceOffset()

double WsfRoute::GetDistanceOffset	(	const double	aFromLL[2],
		const double	aToLL[2],
		const double	aPointLL[2],
		double &	aOffsetDist ) const

Get the distance and offset along the route between two waypoints.

Parameters

aFromLL	The beginning point for which the distance is calculated.
aToLL	The ending point for which the distance is calculated.
aPointLL	The point for which the distances are calculated.
aOffsetDist	the dist (aLat, aLon) is off the route between the waypoints

Returns: The distance, along a great circle route, between the 'from' and 'to' input points.

Referenced by GetDistanceAlongRoute(), and WsfRoute().

◆ GetEndPointsAtDistance()

bool WsfRoute::GetEndPointsAtDistance	(	double	aDistance,
		int &	aSegmentIndex ) const

Parameters

aDistance	A distance along the route.
aSegmentIndex	Set to the index of the waypoint which comes before the specified distance. aSegmentIndex will never be the last waypoint.

References WsfWaypoint::SetDistanceAlongRoute().

Referenced by PointAlongRoute(), and WsfRoute().

◆ GetNetworkRouteId()

unsigned int WsfRoute::GetNetworkRouteId ( ) const

inline

Get the network route Id associated with this route.

Returns: The route Id associated with this route.

Referenced by XWsfOSM_Traffic::ChangeScriptedLane().

◆ GetScriptClassName()

const char * WsfRoute::GetScriptClassName ( ) const

override

◆ GetSize()

unsigned int WsfRoute::GetSize ( ) const

inline

Get the number of waypoints in the route.

Returns: The number of waypoints in the route.

Referenced by Append(), XWsfOSM_Traffic::ChangeScriptedLane(), WsfPathFinder::ComputeExtrapolate(), WsfNavigationMesh::ComputeSetRoute(), WsfPathFinder::ComputeSetRoute(), WsfP6DOF_Mover::ConvertWsfRouteToP6DofRoute(), wsf::six_dof::Mover::ConvertWsfRouteToSixDOF_Route(), WsfRoadMover::CreateRoute(), WsfRoadMover::CreateRoute(), WsfPathFinder::FindClosestPointInQuadrant(), WsfRouteNetwork::GeneratePathOffRouteToRoute(), WsfRouteNetwork::GetAdjacentNodeIndices(), WsfWaypointMover::GetFutureLocationWCS(), if(), if(), ProcessNavigationInput(), WsfNavigationMesh::RefineFromCurrentIndex(), WsfNavigationMesh::RefineFromCurrentPosition(), WsfRoadMover::SetOrUpdateRoute(), WsfRouteMover::SetRoutePoint(), WsfSA_Processor::UpdateNavData(), WsfRoadMover::UpdateRoute(), WsfRouteMover::UpdateRoute(), UT_DEFINE_SCRIPT_METHOD(), UT_DEFINE_SCRIPT_METHOD(), and WsfDraw::VertexRoute().

◆ GetSpeed()

double WsfRoute::GetSpeed ( unsigned int aIndex ) const

inline

Get the speed at the requested waypoint on a route

Returns: The speed at a specific waypoint along a route.

Referenced by GetTravelTime(), GetTravelTimeToPosition(), WsfNavigationMesh::RefineFromCurrentPosition(), and WsfRouteMover::Update().

◆ GetSubroute() [1/2]

void WsfRoute::GetSubroute	(	const WsfWaypoint &	aFromWaypoint,
		const WsfWaypoint &	aToWaypoint,
		WsfRoute &	aRoute ) const

Given a 'start' waypoint and an 'end' waypoint, both of which are contained within the referenced route, return the sub-route that begins and ends with those waypoints.

Parameters

aFromWaypoint	The first waypoint in the sub-route.
aToWaypoint	The last waypoint in the sub-route.
aRoute	[output] The desired sub-route.

References GetSubroute(), and WsfRoute().

Referenced by GetSubroute(), if(), UT_DEFINE_SCRIPT_METHOD(), and WsfRoute().

◆ GetSubroute() [2/2]

void WsfRoute::GetSubroute	(	int	aStartIndex,
		int	aEndIndex,
		WsfRoute &	aRoute ) const

Given a 'start' route index and an 'end' route index, both of which represent waypoints that are contained within the referenced route, return the sub-route that begins and ends with those waypoints.

Parameters

aStartIndex	The first waypoint index in the sub-route.
aEndIndex	The last waypoint index in the sub-route.
aRoute	[output] The desired sub-route.

References AppendSubroute(), Clear(), and WsfRoute().

◆ GetTotalLength()

double WsfRoute::GetTotalLength ( ) const

inline

Get the total distance along all waypoints in the route.

Returns: The sum of the lengths between consecutive waypoints in the route.

◆ GetTravelTime()

double WsfRoute::GetTravelTime ( ) const

Get the time to travel the route given the speed of each segment.

References WsfPath::cDOUBLE_NOT_SET, and GetSpeed().

Referenced by WsfRoadMover::CreateRoute(), WsfFuel::FuelSecondsRemaining(), and WsfRoadMover::GetTravelTime().

◆ GetTravelTimeToPosition()

double WsfRoute::GetTravelTimeToPosition ( const double aPosition[2] ) const

References WsfPath::cDOUBLE_NOT_SET, and GetSpeed().

◆ GetWaypointAt() [1/2]

WsfWaypoint & WsfRoute::GetWaypointAt ( size_t aIndex )

Return a reference to the waypoint in the route specified by the given index.

Parameters

aIndex The waypoint number to be referenced.

Returns: A non-const reference to the waypoint element specified by 'aIndex.'

Referenced by WsfRouteNetwork::Append(), XWsfOSM_Traffic::ChangeScriptedLane(), wsf::six_dof::GuidanceComputer::CheckForWaypointChange(), WsfGuidanceComputer::CheckForWaypointChange(), WsfPathFinder::ComputeExtrapolate(), WsfNavigationMesh::ComputeSetRoute(), WsfPathFinder::ComputeSetRoute(), WsfP6DOF_Mover::ConvertWsfRouteToP6DofRoute(), wsf::six_dof::Mover::ConvertWsfRouteToSixDOF_Route(), WsfPathFinder::FindClosestPointInQuadrant(), WsfRouteNetwork::FindClosestSegment(), WsfRouteNetwork::GetAdjacentNodeIndices(), WsfWaypointMover::GetFutureLocationWCS(), if(), if(), operator[](), operator[](), ProcessNavigationInput(), WsfNavigationMesh::RefineFromCurrentIndex(), WsfNavigationMesh::RefineFromCurrentPosition(), WsfPathFinder::ReturnToRoute(), WsfRoadMover::SetOrUpdateRoute(), wsf::six_dof::GuidanceComputer::UpdateAimpoint(), WsfGuidanceComputer::UpdateAimpoint(), WsfP6DOF_GuidanceComputer::UpdateAimpoint(), WsfRoadMover::UpdateRoute(), and UT_DEFINE_SCRIPT_METHOD().

◆ GetWaypointAt() [2/2]

const WsfWaypoint & WsfRoute::GetWaypointAt ( size_t aIndex ) const

Return a reference to the waypoint in the route specified by the given index.

Parameters

aIndex The waypoint number to be referenced.

Returns: A const reference to the waypoint element specified by 'aIndex.'

◆ GetWaypointIndexAt()

unsigned int WsfRoute::GetWaypointIndexAt ( WsfStringId aLabelId ) const

Return a index to the waypoint in the route specified by the given label.

Parameters

aLabelId The waypoint label.

Returns: The index of the first waypoint with the given label or the value of Size() if a waypoint with the given label could not be found.

Referenced by WsfWaypointMover::GetFutureLocationWCS().

◆ GetWaypointReferenceCount()

UtReferenceCount * WsfRoute::GetWaypointReferenceCount ( )

inline

Returns the reference count for waypoints owned by this route. If the route is resized, waypoint references are invalidated. This allows scripts to access waypoint references safely.

◆ GetWaypoints()

const WaypointVector & WsfRoute::GetWaypoints ( ) const

inline

Gets the vector of the actual waypoints

Returns: Returns the WaypointVector mWaypoints

Referenced by WsfRouteNetwork::Append(), WsfFuel::GetQuantityRequired(), and WsfSA_Processor::UpdateNavData().

◆ Initialize()

bool WsfRoute::Initialize ( double aSimTime = 0.0 )

virtual

Perform initialization of the route.

Returns: 'true' if the initialization succeeded; 'false' otherwise.

References WsfObject::GetNameId(), ok, and SetNetworkRouteId().

Referenced by WsfRoute().

◆ Insert() [1/2]

void WsfRoute::Insert	(	int	aIndex,
		const WsfWaypoint &	aWaypoint )

References Insert().

◆ Insert() [2/2]

void WsfRoute::Insert	(	WayptVecIter	aIter,
		const WsfWaypoint &	aWaypoint )

References Append(), GetDistanceAlongRoute(), WsfWaypoint::GetDistanceAlongRoute(), WsfWaypoint::GetLat(), WsfWaypoint::GetLon(), WsfWaypoint::SetDistanceAlongRoute(), WsfWaypoint::SetPositionInRoute(), and WsfWaypoint::SetRouteId().

Referenced by engage::TargetConfig::CreatePlatform(), WsfRoadMover::CreateRoute(), Insert(), UT_DEFINE_SCRIPT_METHOD(), and WsfRoute().

◆ Intersect()

int WsfRoute::Intersect	(	WsfRoute &	aOtherRoute,
		std::vector< RouteIntersection > &	aIntersections )

Returns a list of intersections between two routes. Assumes that both routes contain only latitude-longitude waypoints.

References WsfRoute::RouteIntersection::mPoint, WsfRoute::RouteIntersection::mWaypointIndex1, WsfRoute::RouteIntersection::mWaypointIndex2, std::swap(), and WsfRoute().

Referenced by UT_DEFINE_SCRIPT_METHOD(), and WsfRoute().

◆ IsBetweenWaypoints()

bool WsfRoute::IsBetweenWaypoints	(	const double	aPointLL[2],
		const unsigned int	aFirstWaypointIndex,
		const unsigned int	aSecondWaypointIndex,
		const double	aTolerancePercentage = 0.01 ) const

Determine if a waypoint is between two other waypoints.

Parameters

aPointLL	The point of interest along the route.
aFirstWaypointIndex	The first route waypoint index.
aSecondWaypointIndex	The second route waypoint index.
aTolerancePercentage	The percentage of firstSecondDistance that aPointLL can be off the path and still be considered to be "between"

Returns: 'true' if the given point is between the two waypoints; 'false' otherwise.

Referenced by GetDistanceAlongRoute(), GetDistanceAlongRoute(), ProjectOntoRoute(), and WsfRoute().

◆ IsGlobalRoute()

bool WsfRoute::IsGlobalRoute ( ) const

References WsfObject::GetName().

Referenced by ProcessNavigationInput().

◆ operator=()

WsfRoute & WsfRoute::operator= ( const WsfRoute & aRhs )

Set one route equal to another.

Parameters

aRhs	The route to which the left-hand-side route is equated.

References WsfAuxDataEnabled::operator=(), WsfObject::operator=(), and WsfRoute().

◆ operator[]() [1/2]

WsfWaypoint & WsfRoute::operator[] ( size_t aIndex )

Return a reference to the waypoint in the route specified by the given index.

Parameters

aIndex The waypoint number to be referenced.

Returns: A non-const reference to the waypoint element specified by 'aIndex.'

References GetWaypointAt().

Referenced by WsfRoute().

◆ operator[]() [2/2]

const WsfWaypoint & WsfRoute::operator[] ( size_t aIndex ) const

Return a reference to the waypoint in the route specified by the given index.

Parameters

aIndex The waypoint number to be referenced.

Returns: A const reference to the waypoint element specified by 'aIndex'

References GetWaypointAt().

◆ PointAlongRoute()

bool WsfRoute::PointAlongRoute	(	double	aDistanceFromStart,
		double	aPointAlongRoute[2],
		int &	aSegmentIndex )

Computes a location along a route given a distance from the start of the route.

Parameters

aDistanceFromStart	The distance from the start of the route
aPointAlongRoute	Set to the point on the route at the specified distance from start.
aSegmentIndex	Set to the segment index at which the point occurs

Returns: True if successful

References d2, WsfWaypoint::GetDistanceAlongRoute(), GetEndPointsAtDistance(), WsfWaypoint::GetLat(), and WsfWaypoint::GetLon().

Referenced by WsfRoute().

◆ Print()

void WsfRoute::Print ( ut::log::MessageStream & aStream ) const

Adds details to the notes of aStream.

Used to print out a route for debugging purposes.

References WsfObject::GetName().

Referenced by UT_DEFINE_SCRIPT_METHOD().

◆ ProcessInput()

bool WsfRoute::ProcessInput ( UtInput & aInput )

overridevirtual

Process input from a generic source.

Examine the current input command. If it is NOT one of the commands recognized by this class then it simply returns 'false'. If it is one of the commands recognized by this class then it processes the command and returns 'true'.

Parameters

aInput a reference to a UtInput object.

Returns: 'true' if the command was one recognized by the class or 'false' if not.

Exceptions

UtInput::ExceptionBase (or an object derived from it) if the command was recognized but contains some sort of error.

Note: If a derived class does not recognize the command (i.e.: the return value is false) then it should call the base class ProcessInput method. This chain should continue until either the command is recognized or the top-level base class is encountered.

Reimplemented from WsfObject.

References WsfAuxDataEnabled::ProcessInput(), and ProcessNavigationInput().

Referenced by ProcessInputBlock().

◆ ProcessInputBlock()

void WsfRoute::ProcessInputBlock	(	UtInputBlock &	aInputBlock,
		WsfRoute *	aRoutePtr,
		bool	aAllowName )

static

References ProcessInput(), WsfObject::SetName(), and WsfRoute().

Referenced by WsfRouteTypes::LoadInstance().

◆ ProcessNavigationInput()

bool WsfRoute::ProcessNavigationInput ( UtInput & aInput )

◆ ProcessWaypoint()

void WsfRoute::ProcessWaypoint	(	UtInput &	aInput,
		WsfWaypoint &	aWaypoint )

References Append(), WsfWaypoint::cLATITUDE_AND_LONGITUDE, WsfWaypoint::GetLat(), WsfWaypoint::GetLon(), WsfWaypoint::GetPointType(), WsfWaypoint::ProcessAllInput(), and WsfWaypoint::SetLabelId().

Referenced by ProcessNavigationInput().

◆ ProjectOntoRoute() [1/3]

bool WsfRoute::ProjectOntoRoute	(	const double	aPointLL[2],
		const double	aSegmentStartLL[2],
		const double	aSegmentEndLL[2],
		double	aProjectedLL[2] )

static

Projects the given point onto the provided segment.

Parameters

aPointLL	The point to project.
aSegmentStartLL	The segment start point
aSegmentEndLL	The segment end point
aProjectedLL	Set to the location of the point projected onto the segment

Returns: Returns true if the projection was possible.

Referenced by ProjectOntoRoute(), ProjectOntoRoute(), ProjectOntoRouteGivenClosestWaypoint(), and WsfRoute().

◆ ProjectOntoRoute() [2/3]

bool WsfRoute::ProjectOntoRoute	(	const double	aPointLL[2],
		double &	aDistanceFromRoute,
		double &	aDistanceAlongRoute ) const

Projects a point onto the closest segment in the route.

Parameters

aPointLL	The point to project Latitude/Longitude
aDistanceFromRoute	Set to the distance the given point is from the projected point.
aDistanceAlongRoute	Set to the distance along the route at which the point projected point occurs returns True if successful

References ProjectOntoRoute().

◆ ProjectOntoRoute() [3/3]

bool WsfRoute::ProjectOntoRoute	(	const double	aPointLL[2],
		int &	aSegmentIndex,
		double	aProjectedLL[2],
		double &	aDistance ) const

Projects the given point onto the closest segment in the route.

Parameters

aPointLL	The point to project.
aSegmentIndex	Set to the segment index used to project
aProjectedLL	Set to the location of the point projected onto the segment
aDistance	Set to the distance from the segment

Returns: Returns true if the projection was possible.

References end(), WsfWaypoint::GetLat(), WsfWaypoint::GetLon(), IsBetweenWaypoints(), and ProjectOntoRoute().

◆ ProjectOntoRouteFast()

int WsfRoute::ProjectOntoRouteFast	(	const double	aPointLL[2],
		double &	aDistanceFromRoute,
		double &	aDistanceAlongRoute ) const

Projects a point onto the closest segment in the route.

Parameters

aPointLL	The point to project Latitude/Longitude
aDistanceFromRoute	Set to the distance the given point is from the projected point.
aDistanceAlongRoute	Set to the distance along the route at which the point projected point occurs returns Index of closest segment, or -1 if failure

References WsfWaypoint::GetDistanceAlongRoute(), WsfWaypoint::GetLat(), and WsfWaypoint::GetLon().

Referenced by WsfRoute().

◆ ProjectOntoRouteGivenClosestWaypoint()

bool WsfRoute::ProjectOntoRouteGivenClosestWaypoint	(	double	aLat,
		double	aLon,
		int	aClosestWaypointIndex,
		int &	aSegmentIndex,
		double	aProjectedLL[2] )

Projects the given latitude/longitude onto a segment where the provided closest waypoint is one of the endpoints of the segment.

Parameters

aLat	The latitude to project.
aLon	The longitude to project.
aClosestWaypointIndex	The closest waypoint to the provided latitude/longitude.
aSegmentIndex	The index of the waypoint at segment start
aProjectedLL	Set to the projected point.

Returns: Returns true if the projection was possible.

References WsfWaypoint::GetLat(), WsfWaypoint::GetLon(), and ProjectOntoRoute().

Referenced by WsfRoute().

◆ Remove()

void WsfRoute::Remove ( unsigned int aWaypointIndex )

References GetDistanceAlongRoute().

Referenced by WsfRoute().

◆ ScriptRef()

UtScriptRef * WsfRoute::ScriptRef ( )

Return a script reference to this route, managed by the application.

References gRouteClassPtr.

Referenced by ConstScriptRef().

◆ ScriptRefManage()

UtScriptRef * WsfRoute::ScriptRefManage ( )

Return a script reference to this route, managed by the scripting language.

References gRouteClassPtr.

Referenced by UT_DEFINE_SCRIPT_METHOD(), UT_DEFINE_SCRIPT_METHOD(), UT_DEFINE_SCRIPT_METHOD(), UT_DEFINE_SCRIPT_METHOD(), UT_DEFINE_SCRIPT_METHOD(), UT_DEFINE_SCRIPT_METHOD(), UT_DEFINE_SCRIPT_METHOD(), UT_DEFINE_SCRIPT_METHOD(), and UT_DEFINE_SCRIPT_METHOD().

◆ Serialize()

template<typename T>

void WsfRoute::Serialize ( T & aBuff )

inline

For XIO (de)serialization.

References WsfObject::Serialize().

◆ SetNetworkRouteId()

void WsfRoute::SetNetworkRouteId ( unsigned int aRouteId )

Assign a route with a particular route Id.

Parameters

aRouteId The route id to associate with the route.

Referenced by Initialize().

◆ SetSpeed()

void WsfRoute::SetSpeed ( double aSpeed )

Set the speed of all waypoints in the route

Parameters

aSpeed The speed to which all waypoints in the route will be set.

Referenced by WsfNavigationMesh::ComputeSetRoute(), WsfPathFinder::ComputeSetRoute(), WsfRoadMover::CreateRoute(), WsfRouteMover::FindAndSetPath(), WsfNavigationMesh::RefineFromCurrentPosition(), and WsfRouteMover::Update().

◆ Swap()

void WsfRoute::Swap ( WsfRoute & aRhs )

inline

Swap two WsfRoute's efficiently.

References std::swap(), and WsfRoute().

Referenced by std::swap().

◆ Transform()

void WsfRoute::Transform	(	double	aRefLat,
		double	aRefLon,
		double	aHeading )

Transform a relative route to an absolute route by applying a rotation and a translation. This method is useful for transforming a pattern constructed of relative positions into an absolute route that can be used by a mover. rotation and a translation. Waypoints of type cRELATIVE_OFFSET are rotated and translated to become points of cLATITUDE_AND_LONGITUDE.

Parameters

aRefLat	The latitude coordinate (degrees) of the local coordinate system's origin.
aRefLon	The longitude coordinate (degrees) of the local coordinate system's origin.
aHeading	The heading (degrees) of the X axis from north.

Note: In an unrotated frame +X is North and +Y is East.

References WsfWaypoint::cLATITUDE_AND_LONGITUDE, WsfWaypoint::cLOCATION_MASK, and WsfWaypoint::cRELATIVE_OFFSET.

Referenced by ProcessNavigationInput(), and WsfRoute().

◆ TransformNED()

void WsfRoute::TransformNED	(	double	aNorth,
		double	aEast,
		double	aDown )

Transform an absolute route by a given offset. Only waypoints of type cLATITUDE_AND_LONGITUDE are translated.

Parameters

aNorth	The distance the waypoint will be translated in the north direction (meters).
aEast	The distance the waypoint will be translated in the east direction (meters).
aDown	The distance the waypoint will be translated in the down direction (meters).

References WsfWaypoint::cLATITUDE_AND_LONGITUDE.

Referenced by ProcessNavigationInput(), and WsfRoute().

Member Data Documentation

◆ cTYPE_KIND

const char* WsfRoute::cTYPE_KIND = "route"

staticconstexpr

The documentation for this class was generated from the following files:

Classes

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ WaypointPtrVector

◆ WaypointSegment

◆ WaypointVector

◆ WayptVecIter

Constructor & Destructor Documentation

◆ WsfRoute() [1/3]

◆ WsfRoute() [2/3]

◆ WsfRoute() [3/3]

◆ ~WsfRoute()

Member Function Documentation

◆ Append() [1/2]

◆ Append() [2/2]

◆ AppendSubroute()

◆ Begin()

◆ Clear()

◆ Clone()

◆ ConstScriptRef()

◆ CreateIteratorScriptClass()

◆ CreateScriptClass()

◆ Empty()

◆ End()

◆ FindWaypointIndex() [1/2]

◆ FindWaypointIndex() [2/2]

◆ GetAdjacentNodeIndices()

◆ GetAllNodes()

◆ GetDistance()

◆ GetDistanceAlongRoute() [1/2]

◆ GetDistanceAlongRoute() [2/2]

◆ GetDistanceOffset()

◆ GetEndPointsAtDistance()

◆ GetNetworkRouteId()

◆ GetScriptClassName()

◆ GetSize()

◆ GetSpeed()

◆ GetSubroute() [1/2]

◆ GetSubroute() [2/2]

◆ GetTotalLength()

◆ GetTravelTime()

◆ GetTravelTimeToPosition()

◆ GetWaypointAt() [1/2]

◆ GetWaypointAt() [2/2]

◆ GetWaypointIndexAt()

◆ GetWaypointReferenceCount()

◆ GetWaypoints()

◆ Initialize()

◆ Insert() [1/2]

◆ Insert() [2/2]

◆ Intersect()

◆ IsBetweenWaypoints()

◆ IsGlobalRoute()

◆ operator=()

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ PointAlongRoute()

◆ Print()

◆ ProcessInput()

◆ ProcessInputBlock()

◆ ProcessNavigationInput()

◆ ProcessWaypoint()

◆ ProjectOntoRoute() [1/3]

◆ ProjectOntoRoute() [2/3]

◆ ProjectOntoRoute() [3/3]

◆ ProjectOntoRouteFast()

◆ ProjectOntoRouteGivenClosestWaypoint()

◆ Remove()

◆ ScriptRef()

◆ ScriptRefManage()

◆ Serialize()

◆ SetNetworkRouteId()

◆ SetSpeed()

◆ Swap()

◆ Transform()